11. EKF Implementation 3 - Update
Nd787 C4 L4 09 EKF Implementation 3 - Update V1
Estimation for Quadrotors
Follow along in Estimation for Quadrotors. You will find this document helpful as you complete the final project.
Error in Video
This video contains an error. The equation labeled (49) in the video is actually incorrect. The correct equation is given in the document linked above. It's:
\begin{aligned}
R'_{bg} = \left[
\begin{array}{ccc}
-\cos \theta \sin \psi&
-\sin\phi \sin \theta \sin \psi - \cos \phi \cos \psi&
-cos \phi \sin \theta \sin \psi + \sin \phi \cos \psi\\
\cos \theta \cos \psi&
\sin \phi \sin \theta \cos \psi - \cos \phi \sin \psi&
\cos \phi \sin \theta \cos \psi + \sin \phi \sin \psi\\
0&0&0
\end{array}
\right]
\end{aligned}